Cubic program structure for multi-device operation and its application in automatic double-electrode SAW

An automatic double-electrode submerged arc welding (SAW) system included two SAW sub-systems and one movement bogie, and each of the SAW sub-system was consisted of a power supply and a wire feeder. These devices were electrically isolated to prevent electrical and magnetic interference. A coordinate controller was needed to make these devices working coordinately and form a better welding seam. For the purpose of isolation and synchronization, a layer-row-line cubic program structure was introduced. Programs in different rows represented a specific operation of a welding procession, and programs in different layer represented different actions of these devices. Actions were synchronized in rows. A SAW welding procession was the sum of all actions. Programs were also easy to be composed and understood under this structure.